This paper addresses the traffic management problem for autonomous vehicles at intersections without traffic signals. In the current system, a road junction has no traffic signals when the traffic volume is low to medium. Installing infrastructure at each unsignalled crossing to coordinate autonomous cars can be formidable. We propose a novel decentralized strategy where the vehicles use a harmony matrix to find the best possible combination of the cars to cross the intersection without any crashes. We formulate a maximal clique problem using harmony matrix that maximizes the intersection throughput. This algorithm does not require communication between the vehicles. We compared our work with state-of-the-art communicative strategies and widely used traditional and modern methods for intersection management. Through extensive simulation, we showed that our algorithm is comparable to state-of-the-art and outperforms traditional methods.

翻译：本文研究了无交通信号灯交叉口处自主车辆的交通管理问题。在当前系统中，当交通流量处于中低水平时，道路交叉口不设置交通信号灯。在每个无信号交叉口安装基础设施以协调自主车辆的成本可能非常高昂。我们提出了一种新颖的去中心化策略，其中车辆使用和谐矩阵来寻找通过交叉口的最佳车辆组合，从而避免任何碰撞。我们利用和谐矩阵构建了一个最大团问题，以最大化交叉口吞吐量。该算法不需要车辆间进行通信。我们将我们的工作与最先进的通信策略以及广泛使用的传统和现代交叉口管理方法进行了比较。通过大量仿真，我们证明了所提出的算法与最先进方法性能相当，且优于传统方法。